CN115847384A

CN115847384A - Mechanical arm safety plane information display method and related product

Info

Publication number: CN115847384A
Application number: CN202310179185.6A
Authority: CN
Inventors: 郎需林; 黄睿; 姜宇
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2023-03-01
Filing date: 2023-03-01
Publication date: 2023-03-28
Anticipated expiration: 2043-03-01
Also published as: CN115847384B

Abstract

The application discloses a mechanical arm safety plane information display method and a related product, wherein the method is applied to a demonstrator in communication connection with a mechanical arm, and comprises the following steps: displaying a main menu tab in a first display area of the demonstrator; displaying a sub-menu tab in a second display area of the demonstrator; displaying a 3D model of the mechanical arm and at least one first safety plane in a third display area of the demonstrator, wherein the posture of the 3D model is the same as that of the mechanical arm; displaying a first control interface and a plane attribute interface in a fourth display area of the demonstrator, wherein the first control interface is used for regulating and controlling at least one first safety plane, the plane attribute interface is used for displaying and adjusting attribute information of a second safety plane, the second safety plane is any one of the at least one first safety plane, and the first control interface is positioned above the plane attribute interface; and displaying a second control interface in a fifth display area of the demonstrator, wherein the second control interface is used for switching control modes and adjusting parameters of the mechanical arm.

Description

Mechanical arm safety plane information display method and related product

Technical Field

The invention relates to the technical field of mechanical arm safety plane information display, in particular to a mechanical arm safety plane information display method and a related product.

Background

With the progress of science and technology, various mechanical arms are used more and more widely in various operating occasions. To this end, in order to make the mechanical arm carry out each item work safely, efficient, the anticollision technique of mechanical arm has more and more obtained attention. At present, the collision prevention between the mechanical arms or the mechanical arms is basically carried out in a mode of setting safety and safety.

In short, the safety plane is a virtual plane for the robot to safely move in work, and the mechanical arm moves under the safety plane, so that various collisions can be effectively prevented. For example: the safety plane of the numerical control mechanical arm can be a virtual plane of a cutter in the process of lifting the cutter and moving quickly, the virtual plane is usually higher than a workpiece, and then collision between the cutter and the workpiece can be effectively prevented during numerical control machining; the safety plane of arm can indicate the arm in the operation process, and the operation boundary of each joint point through setting up different attribute safety planes, restricts the operation boundary of each joint point, effectively prevents the collision between the arm then.

The traditional safety plane setting method is based on the input of coordinate parameters of a space coordinate system where the mechanical arm is located, but the method is only convenient for setting safety planes parallel to an xOy plane, an xOz plane and a yOz plane in the space coordinate system, and other safety planes can be accurately set only by certain technical understanding, so that the technical requirements on operators are high. Meanwhile, in the existing mode, after the safety plane is set, the setting result can be known only by carrying out real machine testing, the relative position between the safety plane and the mechanical arm cannot be directly displayed to a user, and the setting efficiency is low.

In addition, the man-machine interaction interface of the mechanical arm in the market at present is defined by a frame around the control of the mechanical arm, and the display content on the man-machine interaction interface and the layout of the interaction interface are relatively fixed, so that the display requirements under various use scenes cannot be met.

Disclosure of Invention

In order to solve the problems in the prior art, the embodiment of the application provides a method for displaying information of a safety plane of a mechanical arm and a related product, which can realize visual setting of the safety plane, simplify a setting process and improve setting efficiency.

In a first aspect, an embodiment of the present application provides a method for displaying safety plane information of a mechanical arm, where the method is applied to a demonstrator communicatively connected to the mechanical arm, and includes:

displaying a main menu tab in a first display area of the demonstrator, wherein the main menu tab is used for displaying at least one main menu function;

displaying a sub-menu tab in a second display area of the demonstrator, wherein the sub-menu tab is used for displaying at least one sub-menu function, and the at least one sub-menu function is determined by a selected main menu option in the main menu tab;

displaying a 3D model of the mechanical arm and at least one first safety plane in a third display area of the demonstrator, wherein the posture of the 3D model is the same as that of the mechanical arm;

displaying a first control interface and a plane attribute interface in a fourth display area of the demonstrator, wherein the first control interface is used for regulating and controlling at least one first safety plane, the plane attribute interface is used for displaying and adjusting attribute information of a second safety plane, the second safety plane is any one of the at least one first safety plane, and the first control interface is positioned above the plane attribute interface;

displaying a second control interface in a fifth display area of the demonstrator, wherein the second control interface is used for switching control modes and adjusting parameters of the mechanical arm;

the first display area is located at the top end of the display area of the demonstrator, the fifth display area is located at the bottom end of the display area, the second display area, the third display area and the fourth display area are located between the first display area and the fifth display area, the second display area, the third display area and the fourth display area are sequentially and transversely arranged from left to right, and the third display area is larger than the fourth display area.

In one possible implementation mode, when a first preset operation aiming at the sub-menu tab is received, entering a plane preset flow, and displaying a geometric feature list in a seventh display area of the demonstrator, wherein the geometric feature list is used for displaying at least one preset geometric feature;

displaying a geometric display interface and a third control interface in an eighth display area of the demonstrator, wherein the geometric display interface is used for displaying the 3D model of the mechanical arm and at least one first geometric feature, the at least one first geometric feature is determined by a selected preset geometric feature in the geometric feature list, the third control interface is used for adjusting parameters of a second geometric feature, the second geometric feature is any one of the at least one first geometric feature, and the geometric display interface is located above the third control interface;

the seventh display area and the eighth display area are located between the first display area and the fifth display area, the second display area, the seventh display area and the eighth display area are sequentially and transversely arranged from left to right, and the size of the seventh display area is smaller than that of the eighth display area.

In one possible embodiment, the method for displaying the geometric display interface and the third manipulation interface in the eighth display area of the teach pendant comprises the following steps:

acquiring gesture data from the mechanical arm, wherein the gesture data is used for identifying the current action form of the mechanical arm, and the gesture data comprises type data of the tail end in the mechanical arm, state data of the tail end and position data of each joint;

performing attitude adjustment on a virtual end tool and a virtual joint corresponding to a preset 3D model according to the type data of the tail end in the mechanical arm, the state data of the tail end and the position data of each joint to obtain a first attitude model;

performing feature extraction on the first attitude model to obtain a first attitude feature;

matching in a preset attitude library according to the first attitude characteristic to determine the current operation purpose of the mechanical arm;

inputting the operation purpose and historical safety plane setting information into a decision model, and predicting the plane type and the plane position of a safety plane to be set;

determining a display visual angle of the first posture model according to the plane type and the plane position of the safety plane to be set and the first posture characteristic;

determining the aspect ratio of the first attitude model at the first display visual angle;

determining a model display area and an interface display area in the eighth display area according to the size information of the eighth display area and the aspect ratio of the first posture model;

displaying the first attitude model in the model display area according to the display visual angle;

and displaying the third control interface in the interface display area.

In a possible implementation, the matching in the preset posture library according to the first posture characteristic to determine the current operation purpose of the mechanical arm includes:

determining a first feature length of the first pose feature;

determining a second characteristic length of each preset gesture in the gesture library;

determining a first sub-feature length between the first posture feature and each preset posture, wherein the first sub-feature length is the length of the longest common sub-feature in all common sub-features between the first posture feature and each preset posture;

determining an average value of the first characteristic length and the second characteristic length of each preset gesture;

taking the quotient of the first sub-feature length and the average value as the similarity between the first posture feature and each preset posture;

and taking the operation purpose corresponding to the preset characteristic with the maximum similarity as the current operation purpose of the mechanical arm.

In one possible implementation, a training data set is obtained, the training data set including at least one training posture feature, at least one training exhibition perspective, and at least one training safety plane, wherein the at least one training posture feature is in one-to-one correspondence with the at least one training exhibition perspective, and the at least one training posture feature is in one-to-one correspondence with the at least one training safety plane;

calling at least one decision maker in the initial decision model, and performing decision processing on each training posture feature in the at least one training posture feature and a training safety plane corresponding to each training posture feature to obtain an initial display visual angle of each training posture feature;

and adjusting the initial decision model according to the initial display visual angle of each training posture characteristic and the training display visual angle corresponding to each training posture characteristic to obtain the decision model.

In one possible implementation, the third control interface comprises a fourth virtual button, and when a preset operation for the fourth virtual button is received, the 3D model of the mechanical arm and the fourth control interface are displayed in a ninth display area of the demonstrator, wherein the fourth control interface comprises a fifth virtual button and a sixth virtual button for determining or cancelling the currently edited geometric characteristic parameter, and the 3D model of the mechanical arm is located above the fourth control interface;

displaying a fifth control interface in a tenth display area of the demonstrator, wherein the fifth control interface comprises a base point adjusting interface and a rotation vector adjusting interface, and the fifth control interface is used for editing parameters of the currently selected geometric features;

the ninth display area and the tenth display area are located between the first display area and the fifth display area, the ninth display area and the tenth display area are sequentially and transversely arranged from left to right, and the size of the ninth display area is larger than that of the tenth display area.

In a possible implementation manner, when a preset operation for the fifth virtual button is received, a plane corresponding to a preset result is displayed in the eighth display area, wherein the preset result is determined by the geometric characteristic parameter input in the fifth control interface.

In a possible implementation manner, displaying a plane corresponding to the preset result in the eighth display area includes:

acquiring first input data in a base point adjusting interface and second input data in a rotation vector adjusting interface;

determining a space coordinate of a base point in an initial Cartesian coordinate system of the mechanical arm according to the first input data, and determining an Euler angle coordinate according to the second input data;

determining a first rotation matrix of the base point relative to an initial Cartesian coordinate system according to the space coordinate of the base point and a preset rotation matrix format;

taking an xOy plane of the initial Cartesian coordinate system as a first plane, and establishing a second Cartesian coordinate system according to the first plane and Euler angle coordinates, wherein the origin of the second Cartesian coordinate system is the same as the origin of the initial Cartesian coordinate system, and the rotation amount of the second Cartesian coordinate system relative to the initial Cartesian coordinate system meets the Euler angle coordinates;

taking an xOy plane of the second Cartesian coordinate system as a second plane, and determining second plane coordinates of the second plane in the initial Cartesian coordinate system;

taking the product of the second plane coordinate and the first rotation matrix as a target plane coordinate of a plane corresponding to the preset result in the initial Cartesian coordinate system;

and displaying a plane corresponding to the preset result in the eighth display area based on the target plane coordinates.

establishing a third Cartesian coordinate system by taking the space coordinate of the base point as an original point, wherein the x axis of the third Cartesian coordinate system is parallel to the x axis of the initial Cartesian coordinate system and has the same direction, the y axis of the third Cartesian coordinate system is parallel to the y axis of the initial Cartesian coordinate system and has the same direction, and the z axis of the third Cartesian coordinate system is parallel to the z axis of the initial Cartesian coordinate system and has the same direction;

taking an xOy plane of a third Cartesian coordinate system as a third plane, and establishing a fourth Cartesian coordinate system according to the third plane and Euler angle coordinates, wherein the origin of the fourth Cartesian coordinate system is the same as the origin of the third Cartesian coordinate system, and the rotation amount of the fourth Cartesian coordinate system relative to the third Cartesian coordinate system meets the Euler angle coordinates;

taking an xOy plane of a fourth Cartesian coordinate system as a fourth plane, and determining fourth plane coordinates of the fourth plane in the third Cartesian coordinate system;

determining a second rotation matrix between the third cartesian coordinate system and the initial cartesian coordinate system;

taking the product of the fourth plane coordinate and the second rotation matrix as a target plane coordinate of a plane corresponding to the preset result in the initial Cartesian coordinate system;

In a possible implementation manner, the fifth virtual button is configured to determine a currently edited geometric characteristic parameter, determine a plane corresponding to the currently edited geometric characteristic parameter as a preset result of the current plane preset flow, and end the current plane preset flow;

the sixth virtual button is used for canceling the currently edited geometric characteristic parameter;

the fifth virtual button is located on the left side of the sixth virtual button, and the fifth virtual button and the sixth virtual button are located in the lower right corner of the rotary vector adjustment interface.

In a possible implementation manner, the base point adjusting interface is used for inputting the coordinate parameters of the first newly-built base point, and the rotating vector adjusting interface is used for inputting the adjusting parameters of the newly-built rotating vector;

wherein the base point adjustment interface is located above the rotation vector adjustment interface.

In one possible embodiment, the base point adjusting interface comprises a first input frame, a second input frame, a third input frame, a first adjusting button, a second adjusting button and a third adjusting button;

the first input frame corresponds to the first adjusting button, the first input frame is located on the left side of the first adjusting button, the first input frame is used for inputting the X-axis coordinate of the first newly-built base point, and the first adjusting button is used for adjusting the input X-axis coordinate;

the second input frame corresponds to the second adjusting button, the second input frame is located on the left side of the second adjusting button, the second input frame is used for inputting the Y-axis coordinate of the first newly-built base point, and the second adjusting button is used for adjusting the input Y-axis coordinate;

the third input frame corresponds to a third adjusting button, the third input frame is located on the left side of the third adjusting button, the third input frame is used for inputting the Z-axis coordinate of the first newly-built base point, and the third adjusting button is used for adjusting the input Z-axis coordinate;

the first input frame is positioned above the second input frame, and the third input frame is positioned below the second input frame.

In one possible embodiment, the rotary vector adjustment interface includes a fourth input box, a fifth input box, a sixth input box, a fourth adjustment button, a fifth adjustment button, and a sixth adjustment button;

the fourth input frame corresponds to a fourth adjusting button, the fourth input frame is positioned on the left side of the fourth adjusting button, and the fourth input frame is used for inputting R of the newly-built rotation vector _X Parameter, fourth adjustment button for adjusting R of input _X A parameter;

the fifth input box corresponds to a fifth adjusting button, the fifth input box is positioned at the left side of the fifth adjusting button, and the fifth input box is used for inputting R of the newly-built rotation vector _Y Parameter, fifth adjustment button for adjusting R of input _Y A parameter;

the sixth input box corresponds to a sixth adjustment button, the sixth input box is positioned at the left side of the sixth adjustment button, and the sixth input box is used for inputting R of the newly-built rotation vector _Z Parameter, sixth adjustment button for adjusting R of input _Z A parameter;

the fourth input frame is positioned above the fifth input frame, and the sixth input frame is positioned below the fifth input frame.

In a possible implementation manner, the third control interface further includes a seventh virtual button, and when a preset operation for the seventh virtual button is received, a geometric feature editing process is displayed in an eleventh display area of the demonstrator, wherein the geometric feature editing process is used for displaying at least one editing step and indicating the turn in which the current editing step is located;

displaying a step description interface and a sixth control interface in a twelfth display area of the demonstrator, wherein the step description interface is used for displaying the operation method of the first editing step, the first editing step is the first editing step in at least one editing step, the sixth control interface is used for switching the editing steps, and the step description interface is positioned above the sixth control interface;

the eleventh display area and the twelfth display area are positioned between the first display area and the fifth display area, the eleventh display area and the twelfth display area are sequentially and transversely arranged from left to right, and the size of the eleventh display area is smaller than that of the twelfth display area.

In a possible implementation manner, the sixth control interface includes an eighth virtual button, and when a preset operation for the eighth virtual button is received, the step explanation interface switches and displays the first geometric characteristic editing interface, wherein the first geometric characteristic editing interface is used for creating the first location point;

the first geometric feature editing interface comprises a ninth virtual button, and when a preset operation for the ninth virtual button is received, the display editing interface is jumped to edit the first position point.

In a possible implementation manner, a first point position adjusting and controlling interface is displayed in a thirteenth display area of the demonstrator, wherein the first point position adjusting and controlling interface is used for controlling the mechanical arm to position a currently edited position point;

displaying a 3D model of the mechanical arm and a seventh control interface in a fourteenth display area of the demonstrator, wherein the seventh control interface is used for determining or canceling the currently edited position point;

displaying a second point location regulation interface in a fifteenth display area of the demonstrator, wherein the second point location regulation interface is used for inputting or adjusting position parameters to position the currently edited position point;

the thirteenth display area, the fourteenth display area and the fifteenth display area are positioned between the first display area and the fifth display area, the thirteenth display area, the fourteenth display area and the fifteenth display area are sequentially and transversely arranged from left to right, and the size of the fourteenth display area is larger than that of the thirteenth display area and that of the fifteenth display area.

In one possible implementation, the second point location regulating interface includes a point location parameter input interface, where the point location parameter input interface is located at a top end of the second point location regulating interface;

the second point position regulating interface comprises a seventh input box, an eighth input box and a ninth input box;

the seventh input box is used for inputting the X-axis coordinate of the currently edited position point, the eighth input box is used for inputting the Y-axis coordinate of the currently edited position point, the ninth input box is used for inputting the Z-axis coordinate of the currently edited position point, and the seventh input box, the eighth input box and the ninth input box are sequentially arranged from top to bottom.

In a possible implementation manner, the seventh manipulation interface includes a tenth virtual button, and when a preset operation for the tenth virtual button is received, the geometric feature editing process is displayed in the eleventh display area, and the first geometric feature editing interface and the sixth manipulation interface are displayed in the twelfth display area;

when preset operation aiming at the eighth virtual button is received, a second geometric characteristic editing interface is switched and displayed on the first geometric characteristic editing interface, wherein the second geometric characteristic editing interface is used for creating a second position point;

and when a preset operation aiming at the eleventh virtual button is received, jumping to display the editing interface to edit the second position point.

In a possible implementation manner, when the second position point is edited in the editing interface and a preset operation for a tenth virtual button is received, displaying a geometric feature editing process in an eleventh display area, and displaying a second geometric feature editing interface and a sixth control interface in a twelfth display area;

when preset operation aiming at the eighth virtual button is received, a third geometric characteristic editing interface is switched and displayed on the second geometric characteristic editing interface, wherein the third geometric characteristic editing interface is used for creating a third position point;

and when a preset operation aiming at the twelfth virtual button is received, jumping to display the editing interface to edit the third position point.

In a possible implementation manner, when the third location point is edited in the editing interface and a preset operation for the tenth virtual button is received, displaying the geometric feature editing process in the eleventh display area and displaying the third geometric feature editing interface and the sixth control interface in the twelfth display area;

and when a preset operation aiming at the eighth virtual button is received, switching and displaying a preview interface on the third geometric characteristic editing interface, wherein the preview interface is used for displaying the 3D model of the mechanical arm and the first plane determined by the first position point, the second position point and the third position point.

In a possible implementation manner, the sixth control interface further includes a thirteenth virtual button, and the thirteenth virtual button is located on the right side of the sixth control interface, and is configured to determine the first plane as a preset result of the current plane preset flow, and end the current plane preset flow.

In a possible implementation manner, the first manipulation interface comprises a first virtual button, and the first virtual button is used for newly building a security plane;

when a preset operation aiming at a first virtual button is received, inserting and displaying a newly-built security plane option above the first virtual button;

when receiving a preset operation aiming at the safety plane option, determining that the safety plane corresponding to the safety plane option is the currently selected safety plane, and displaying the plane attribute of the currently selected safety plane on a plane attribute interface.

In one possible implementation, when a preset operation for a first virtual button is received, inserting and displaying a newly-created security plane option above the first virtual button includes:

acquiring a contact coordinate of a preset operation;

determining a display area of the first virtual button according to the touch point coordinates;

acquiring a display template of the safety plane option, and determining the size information of the display template according to the display area;

determining a first display area of the safety plane option and a second display area of the first virtual button according to the size information and the display area of the first virtual button, wherein the first display area is positioned above the second display area, and the first display area is adjacent to the second display area;

a security plane option is displayed in the first display area and a first virtual button is displayed in the second display area.

In one possible embodiment, determining size information of the display template according to the display area includes:

acquiring a first width of a display area;

adjusting the size of the display template in equal proportion to enable the second width of the adjusted display template to be equal to the first width;

and taking the second width and the second length corresponding to the second width as the size information of the display template.

In one possible implementation, the planar property interface includes a second virtual button, a third virtual button, a first tab, and a second tab;

the second virtual button is used for determining that the currently selected security plane is the final security plane, the third virtual button is used for changing the name of the currently selected security plane, the first tab is used for selecting preset security plane parameters, the second tab is used for selecting a preset security plane mode, and the third virtual button, the first tab, the second tab and the second virtual button are sequentially arranged from top to bottom.

In one possible implementation mode, when a preset operation for the third virtual button is received, displaying an input interface in the sixth display area, wherein the input interface is used for inputting a self-defined plane name;

wherein the sixth display area covers the entirety of the fifth display area and lower halves of the second, third, and fourth display areas.

In one possible implementation, when a preset operation for a first tab is received, displaying a first floating menu below the first tab, wherein the first floating menu is used for displaying at least one preset plane;

and when a preset operation aiming at any one preset plane in the at least one preset plane is received, displaying any one preset plane in the third display area, and endowing the plane parameter of any one preset plane to the currently selected safety plane.

In one possible implementation, when a preset operation for a second tab is received, displaying a second floating menu below the second tab, wherein the second floating menu is used for displaying at least one preset limiting mode;

and when a preset operation aiming at any one preset limit mode in the at least one preset limit mode is received, determining the plane mode of the currently selected safety plane as any one preset limit mode.

In a second aspect, embodiments of the present application provide a control apparatus for use with a robotic arm comprising a teach pendant, the control apparatus comprising means for performing a method according to the first aspect.

In a third aspect, an embodiment of the present application provides an electronic device, including: a memory for storing a program; a processor coupled to the memory for executing the program stored by the memory to cause the electronic device to perform the method of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, the computer program causing a computer to perform the method according to the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program, the computer operable to cause the computer to perform a method according to the first aspect.

The implementation of the embodiment of the application has the following beneficial effects:

in the embodiment of the application, the display area is modularized, so that a main menu tab is displayed in a first display area, a sub-menu tab is displayed in a second display area, a 3D model of the mechanical arm and at least one first safety plane are displayed in a third display area, a first control interface and a plane attribute interface are displayed in a fourth display area, and a second control interface is displayed in a fifth display area. And then when the parameters of the safety plane are set, the position relation between the safety plane and the mechanical arm can be displayed in real time by the third display area. Therefore, the visual setting of the safety plane is realized, the setting process is simplified, the operation threshold is reduced, and the setting efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic diagram of a hardware structure of a robot arm safety plane information display device according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a method for displaying safety plane information of a robot arm according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of a security plane information display interface according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram of an interface after entering a plane preset flow according to an embodiment of the present disclosure;

FIG. 5 is a schematic flow chart diagram illustrating a method for displaying a 3D model of a robotic arm and at least one first geometric feature provided in an embodiment of the present application;

fig. 6 is a schematic diagram of an interface after a preset operation for a fourth virtual button according to an embodiment of the present disclosure;

fig. 7 is a schematic diagram of an interface after a preset operation for a seventh virtual button according to an embodiment of the present disclosure;

fig. 8 is a schematic view of an interface after a preset operation for an eighth virtual button according to an embodiment of the present disclosure;

fig. 9 is a schematic diagram of a display editing interface according to an embodiment of the present disclosure;

fig. 10 is a schematic diagram of an interface after a preset operation for a tenth virtual button according to an embodiment of the present application;

fig. 11 is a schematic diagram of an interface after a preset operation for a tenth virtual button according to an embodiment of the present application;

fig. 12 is a schematic diagram of an interface after a preset operation for a tenth virtual button according to an embodiment of the present application;

fig. 13 is a schematic view of an interface after a preset operation for a first virtual button according to an embodiment of the present disclosure;

fig. 14 is a schematic diagram of an interface after a preset operation is performed on a third virtual button according to an embodiment of the present application;

fig. 15 is a block diagram illustrating functional modules of a control device according to an embodiment of the present disclosure;

fig. 16 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application.

The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, result, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a robot arm safety plane information display device according to an embodiment of the present disclosure. The robot arm safety plane information display device 100 includes at least one processor 101, a communication link 102, a memory 103, and at least one communication interface 104.

In this embodiment, the processor 101 may be a general processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more ics for controlling the execution of programs according to the present disclosure.

The communication link 102, which may include a path, carries information between the aforementioned components.

The communication interface 104 may be any transceiver or other device (e.g., an antenna, etc.) for communicating with other devices or communication networks, such as an ethernet, RAN, wireless Local Area Network (WLAN), etc.

The memory 103 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

In this embodiment, the memory 103 may be independent and connected to the processor 101 through the communication line 102. The memory 103 may also be integrated with the processor 101. The memory 103 provided in the embodiments of the present application may generally have a nonvolatile property. The memory 103 is used for storing computer-executable instructions for executing the scheme of the application, and is controlled by the processor 101 to execute. The processor 101 is configured to execute computer-executable instructions stored in the memory 103, thereby implementing the methods provided in the embodiments of the present application described below.

In alternative embodiments, computer-executable instructions may also be referred to as application code, which is not specifically limited in this application.

In alternative embodiments, processor 101 may include one or more CPUs, such as CPU0 and CPU1 of FIG. 1.

In an alternative embodiment, the robotic arm safety plan information display device 100 may include multiple processors, such as processor 101 and processor 107 in fig. 1. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores that process data (e.g., computer program instructions).

In an alternative embodiment, if the mechanical arm safety plane information display device 100 is a server, for example, the mechanical arm safety plane information display device may be an independent server, or may be a cloud server that provides basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, web service, cloud communication, middleware service, domain name service, safety service, content Delivery Network (CDN), big data and artificial intelligence platform, and the like. The robot arm safety flat information display apparatus 100 may further include an output device 105 and an input device 106. The output device 105 is in communication with the processor 101 and may display information in a variety of ways. For example, the output device 105 may be a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display device, a Cathode Ray Tube (CRT) display device, a projector (projector), or the like. The input device 106 is in communication with the processor 101 and may receive user input in a variety of ways. For example, the input device 106 may be a mouse, a keyboard, a touch screen device, or a sensing device, among others.

The robot arm safety flat information display device 100 may be a general-purpose device or a special-purpose device. The embodiment of the present application does not limit the type of the robot arm safety flat information display device 100.

The following will explain a method for displaying arm safety plane information disclosed in the present application:

referring to fig. 2, fig. 2 is a schematic flow chart of a method for displaying safety plane information of a robot arm according to an embodiment of the present disclosure. The mechanical arm safety plane information display method comprises the following steps:

201: and displaying a main menu tab in a first display area of the demonstrator.

In this embodiment, the main menu tab is used to display at least one main menu function. Illustratively, as shown in FIG. 3, the first display area is located at the top of the display area of the teach pendant. The method can comprise the following steps: operating a tab, wherein a page under the tab is used for calling a pre-programmed program to control the mechanical arm; a program tab, wherein a page under the tab is used for creating and/or modifying a pre-programmed program; a setup tab is installed, the page under the tab being used to configure the robotic arm and external devices, such as: mounting location, safety plane, etc.; the method comprises the following steps of moving a tab, wherein a page under the tab is used for controlling and/or adjusting the movement of a mechanical arm; the input and output option card, the page under the option card is used for monitoring and setting the real-time input and output signals entering and exiting the mechanical arm control box; and a log tab, wherein a page under the tab is used for checking the operation condition, warning information, error information and the like of the mechanical arm.

The method for displaying the safety plane information of the mechanical arm belongs to the function of installing and setting the tab, and based on the method, the pages provided in the application are all pages under the installation and setting tab, and are not repeated.

202: and displaying a sub-menu option card in a second display area of the demonstrator.

In this embodiment, the sub-menu tab is used to display at least one sub-menu function, which is determined by a selected main menu option in the main menu tab. Illustratively, as shown in fig. 3, the second display area is located on the left side of the display area of the teach pendant, below the first display area. In this area, there may also be a further level of sub-menu options below each sub-menu option.

In this embodiment, the sub-menu tab under the installation setting tab may include a security plane setting tab, and when the tab is clicked, a plane preset process may be entered, as shown in fig. 4, a geometric feature list is displayed in a seventh display area of the demonstrator, and the geometric feature list is used for displaying at least one preset geometric feature. And displaying a geometric display interface and a third control interface in an eighth display area of the demonstrator, wherein the geometric display interface is used for displaying the 3D model of the mechanical arm and at least one first geometric feature, and the at least one first geometric feature is determined by the selected preset geometric feature in the geometric feature list. Specifically, the 3D model of the mechanical arm is a model with a pose synchronized with the mechanical arm in real time, and the at least one first geometric feature may be a point, a line, a plane, various solid spaces, and the like, and the first geometric features are all geometric features preset in a geometric feature list.

Specifically, the seventh display area and the eighth display area are located between the first display area and the fifth display area, the second display area, the seventh display area and the eighth display area are arranged horizontally from left to right, and the size of the seventh display area is smaller than that of the eighth display area.

Meanwhile, in the present embodiment, a method for displaying a 3D model and at least one first geometric feature of a robot arm is provided, which may determine an optimal display view angle according to a posture of the 3D model of the robot arm and a position relationship between the at least one first geometric feature and the 3D model, and display the 3D model and the at least one first geometric feature of the robot arm. Specifically, as shown in fig. 5, the method includes:

501: attitude data is acquired from the robotic arm.

In the present embodiment, the attitude data is used to identify the current motion pattern of the robot arm, and includes the type data of the tip in the robot arm, the state data of the tip, and the position data of each joint.

502: and carrying out posture adjustment on a corresponding virtual terminal tool and a corresponding virtual joint in a preset 3D model according to the type data of the terminal in the mechanical arm, the state data of the terminal and the position data of each joint to obtain a first posture model.

In this embodiment, the type of tool mounted at the end of the robot arm can be determined by the type data of the end in the robot arm, for example: clamps, cutters, and the like; the state data of the terminal is used for identifying the working state of the terminal at the moment; the position data of each joint is used to identify the rotation angle of each joint. Thus, the first pose model, which is a 3D model that is the same as the pose of the robot arm in real time, can be generated from the data.

503: and performing feature extraction on the first attitude model to obtain a first attitude feature.

In this embodiment, the first pose feature may include a form feature, an end tool feature, and an end state feature.

504: and matching in a preset attitude library according to the first attitude characteristic, and determining the current operation purpose of the mechanical arm.

In this embodiment, the morphological feature, the end tool feature, and the end state feature may be longitudinally stitched and compared with each pose feature stored in the historical working library. And then determining the operation purpose corresponding to the gesture with the highest similarity as the current operation purpose of the mechanical arm.

Specifically, a first feature length of the first pose feature and a second feature length of each preset pose in the pose library may be determined. Then, a first sub-feature length between the first pose feature and each preset pose is determined, wherein the first sub-feature length is the length of the longest common sub-feature of all common sub-features between the first pose feature and each preset pose. Then, an average of the first feature length and the second feature length of each preset pose may be determined, and a quotient of the first sub-feature length and the average may be used as a similarity between the first pose feature and each preset pose.

505: and inputting the operation purpose and the historical safety plane setting information into a decision model, and predicting the plane type and the plane position of the safety plane to be set.

In this embodiment, the decision model can be obtained by training in advance and automatically updating in a timed or non-timed manner. Or may be trained in real time each time the analysis is performed, which is not limited by the present application. Specifically, the method comprises the following steps:

firstly, a training data set is obtained, wherein the training data set comprises at least one training posture characteristic, at least one training display visual angle and at least one training safety plane, the at least one training posture characteristic corresponds to the at least one training display visual angle in a one-to-one mode, and the at least one training posture characteristic corresponds to the at least one training safety plane in a one-to-one mode. And then, calling at least one decision maker in the initial decision model, and carrying out decision processing on each training posture feature in the at least one training posture feature and the training safety plane corresponding to each training posture feature to obtain an initial display visual angle of each training posture feature. And finally, adjusting the initial decision model according to the initial display visual angle of each training posture characteristic and the training display visual angle corresponding to each training posture characteristic to obtain the decision model.

506: and determining the display visual angle of the first posture model according to the plane type and the plane position of the safety plane to be set and the first posture characteristic.

In the embodiment, according to the first posture characteristic, the optimal view angle range for displaying the current mechanical arm can be determined, that is, the projection range is larger than a first preset threshold value, and the view angle range for clearly seeing the current working condition of the mechanical arm can be determined. Meanwhile, according to the plane type and the plane position of the safety plane to be set, the optimal view angle range of the safety plane can be determined, and similarly, the projection range of the safety plane is larger than the view angle range of a second preset threshold value. Therefore, the intersection of the optimal view angle ranges of the two is determined as the optimal display view angle range, and one display view angle is randomly determined as the display view angle of the first posture model.

507: and determining the aspect ratio of the first attitude model under the first display visual angle.

In this embodiment, the minimum bounding rectangle that shows the 3D model at the viewing angle may be determined, and the aspect ratio of the minimum bounding rectangle may be used as the aspect ratio of the first pose model.

508: and determining a model display area and an interface display area in the eighth display area according to the size information of the eighth display area and the aspect ratio of the first posture model.

In this embodiment, since the size of the geometric display interface is fixed, the length of the minimum bounding rectangle may be equal to the length of the geometric display interface, and then the size of the first pose model display area is determined, and then the model display area and the interface display area are determined in the eighth display area, where the model display area is used for displaying the first pose model.

509: and displaying the first posture model in the model display area according to the display visual angle.

510: and displaying the third control interface in the interface display area.

In this embodiment, the third manipulation interface is configured to adjust a parameter of a second geometric feature, where the second geometric feature is any one of the at least one first geometric feature, and the geometric display interface is located above the third manipulation interface. Specifically, as shown in fig. 6, the third manipulation interface includes a fourth virtual button, and when a preset operation for the fourth virtual button is received, the 3D model of the robot arm and the fourth manipulation interface are displayed in a ninth display area of the teach pendant, where the fourth manipulation interface includes a fifth virtual button and a sixth virtual button for determining or canceling the currently edited geometric feature parameter, and the 3D model of the robot arm is located above the fourth manipulation interface. And displaying a fifth control interface in a tenth display area of the demonstrator, wherein the fifth control interface comprises a base point adjusting interface and a rotation vector adjusting interface, and the fifth control interface is used for editing the parameters of the currently selected geometric features. The ninth display area and the tenth display area are located between the first display area and the fifth display area, the ninth display area and the tenth display area are sequentially and transversely arranged from left to right, and the size of the ninth display area is larger than that of the tenth display area.

In this embodiment, the fifth virtual button is configured to determine a currently edited geometric characteristic parameter, determine a plane corresponding to the currently edited geometric characteristic parameter as a preset result of the current plane preset flow, and end the current plane preset flow. The sixth virtual button is used to cancel the currently edited geometric feature parameter. And the fifth virtual button is positioned on the left side of the sixth virtual button, and the fifth virtual button and the sixth virtual button are positioned on the lower right corner of the rotating vector adjusting interface.

In the embodiment, the base point adjustment interface is used for inputting the coordinate parameters of the first new base point, and the rotation vector adjustment interface is used for inputting the adjustment parameters of the new rotation vector, wherein the base point adjustment interface is located above the rotation vector adjustment interface. Specifically, the base point adjusting interface comprises a first input frame, a second input frame, a third input frame, a first adjusting button, a second adjusting button and a third adjusting button; the first input frame corresponds to the first adjusting button, the first input frame is located on the left side of the first adjusting button, the first input frame is used for inputting the X-axis coordinate of the first newly-built base point, and the first adjusting button is used for adjusting the input X-axis coordinate; the second input frame corresponds to a second adjusting button, the second input frame is located on the left side of the second adjusting button, the second input frame is used for inputting the Y-axis coordinate of the first newly-built base point, and the second adjusting button is used for adjusting the input Y-axis coordinate; the third input frame corresponds to a third adjusting button, the third input frame is positioned on the left side of the third adjusting button, the third input frame is used for inputting the Z-axis coordinate of the first newly-built base point, and the third adjusting button is used for adjusting the input Z-axis coordinate; the first input frame is positioned above the second input frame, and the third input frame is positioned below the second input frame.

Specifically, the spatial coordinates (X, Y, Z) are spatial coordinates in an initial cartesian coordinate system determined based on the base of the robot arm as an origin and the horizontal plane as the xOy plane. This initial cartesian coordinate system can be generated by the arm when the initialization sets up automatically, also can carry out the custom by the staff and generate, and this application does not do the restriction to this.

In this embodiment, the rotation vector adjustment interface includes a fourth input box, a fifth input box, a sixth input box, a fourth adjustment button, a fifth adjustment button, and a sixth adjustment button; the fourth input frame corresponds to a fourth adjusting button, the fourth input frame is positioned on the left side of the fourth adjusting button, and the fourth input frame is used for inputting R of the newly-built rotation vector _X Parameter, fourth adjustment button for adjusting R of input _X A parameter; the fifth input box corresponds to a fifth adjusting button, the fifth input box is positioned at the left side of the fifth adjusting button, and the fifth input box is used for inputting R of the newly-built rotation vector _Y Parameter, fifth adjustment button for adjusting R of input _Y A parameter; the sixth input box corresponds to a sixth adjustment button, the sixth input box is positioned at the left side of the sixth adjustment button, and the sixth input box is used for inputting R of the newly-built rotation vector _Z Parameter, sixth adjustmentButtons for adjusting R of input _Z A parameter; the fourth input frame is positioned above the fifth input frame, and the sixth input frame is positioned below the fifth input frame.

Specifically, the rotation vector R _X 、R _Y And R _Z The method is used for identifying the rotation relation between the new Cartesian coordinate system established by taking the first new establishment base point as an origin and the initial Cartesian coordinate system, and can be parameters such as an X-Y-Z fixed angle, an X-Y-Z Euler angle, an RPY angle, quaternions and the like. Illustratively, taking X-Y-Z Euler angles as examples, then R _X Denotes the precession angle, R _Y Denotes the angle of rotation, R _Z Indicating the nutation angle.

In this embodiment, when a preset operation for the fifth virtual button is received, a plane corresponding to a preset result is displayed in the eighth display area, where the preset result is determined by the geometric characteristic parameter input in the fifth control interface.

Specifically, first input data in the base point adjustment interface and second input data in the rotation vector adjustment interface can be acquired, then the spatial coordinates of the base point in the initial cartesian coordinate system of the mechanical arm are determined according to the first input data, and the euler angle coordinates are determined according to the second input data. The initial cartesian coordinate system is established by taking a base of the mechanical arm as an original point, and can be the initial coordinate system carried by the mechanical arm after initialization. Then, a first rotation matrix of the base point relative to the initial cartesian coordinate system is determined according to the spatial coordinates of the base point and a preset rotation matrix format. The rotation matrix is used to convert the spatial coordinates in the initial cartesian coordinate system into coordinates in the cartesian coordinate system established with the base point as the origin.

In the present embodiment, the xOy plane of the initial cartesian coordinate system is set as a first plane, and a second cartesian coordinate system is established based on the first plane and euler angle coordinates. And the original point of the second Cartesian coordinate system is the same as the original point of the initial Cartesian coordinate system, and the rotation amount of the second Cartesian coordinate system relative to the initial Cartesian coordinate system meets the Euler angle coordinate. Specifically, according to the definition of euler angle coordinate, it is determined by two intersecting planes and the cartesian coordinate system of the planes, wherein the intersection line of the intersection of the two planes is a key factor for determining the euler angle coordinate. Based on this, when the xOy plane of the initial cartesian coordinate system is taken as the first plane, the intersection line can be determined according to the euler angle coordinates, and then another plane defined by the initial cartesian coordinate system and the euler angle coordinates can be determined by combining the derived cartesian coordinate system, i.e., the second cartesian coordinate system.

In this regard, in the present embodiment, the xOy plane of the second cartesian coordinate system may be taken as the second plane, and the second plane coordinates of the second plane in the initial cartesian coordinate system may be determined. At this time, the determined second plane is a plane passing through the initial cartesian coordinate system and does not pass through the set base point. Based on the above, the second plane coordinate and the first rotation matrix may be multiplied, and then the product is taken as the target plane coordinate of the plane corresponding to the preset result in the initial cartesian coordinate system.

And finally, displaying a plane corresponding to the preset result in an eighth display area based on the target plane coordinates.

In an optional embodiment, another plane method for displaying a preset result in an eighth display area is further provided, which specifically includes:

first, first input data in a base point adjusting interface and second input data in a rotating vector adjusting interface are obtained, the space coordinate of a base point in an initial Cartesian coordinate system of the mechanical arm is determined according to the first input data, and Euler angle coordinates are determined according to the second input data.

Then, a third cartesian coordinate system is established with the spatial coordinates of the base point as an origin, wherein an x-axis of the third cartesian coordinate system is parallel to and points at the same as an x-axis of the initial cartesian coordinate system, a y-axis of the third cartesian coordinate system is parallel to and points at the same as a y-axis of the initial cartesian coordinate system, and a z-axis of the third cartesian coordinate system is parallel to and points at the same as a z-axis of the initial cartesian coordinate system. I.e. the third cartesian coordinate system is identical to the initial cartesian coordinate system, only the location of the origin is different.

Then, taking an xOy plane of the third Cartesian coordinate system as a third plane, and establishing a fourth Cartesian coordinate system according to the third plane and the Euler angle coordinate, wherein the origin of the fourth Cartesian coordinate system is the same as the origin of the third Cartesian coordinate system, and the rotation amount of the fourth Cartesian coordinate system relative to the third Cartesian coordinate system meets the Euler angle coordinate. The detailed principle is consistent with the above description, and the detailed description is omitted.

Then, taking the xOy plane of the fourth cartesian coordinate system as a fourth plane, determining fourth plane coordinates of the fourth plane in the third cartesian coordinate system, and determining a second rotation matrix between the third cartesian coordinate system and the initial cartesian coordinate system. The rotation matrix is used to translate the spatial coordinates in the third cartesian coordinate system into coordinates in the initial cartesian coordinate system.

And finally, taking the product of the fourth plane coordinate and the second rotation matrix as the target plane coordinate of the plane corresponding to the preset result in the initial Cartesian coordinate system. And displaying a plane corresponding to the preset result in an eighth display area based on the target plane coordinates.

In an optional embodiment, another man-machine interaction process for determining a plane is further provided, which specifically includes:

specifically, as shown in fig. 7, the third control interface further includes a seventh virtual button, and when a preset operation for the seventh virtual button is received, a geometric feature editing process is displayed in an eleventh display area of the teach pendant, where the geometric feature editing process is used for displaying at least one editing step and indicating the turn in which the current editing step is located. And displaying a step description interface and a sixth control interface in a twelfth display area of the demonstrator, wherein the step description interface is used for displaying the operation method of the first editing step, the first editing step is the first editing step in at least one editing step, the sixth control interface is used for switching the editing step, and the step description interface is positioned above the sixth control interface. The eleventh display area and the twelfth display area are positioned between the first display area and the fifth display area, the eleventh display area and the twelfth display area are sequentially and transversely arranged from left to right, and the size of the eleventh display area is smaller than that of the twelfth display area.

In this embodiment, the sixth control interface includes an eighth virtual button, and when a preset operation is received for the eighth virtual button, as shown in fig. 8, the step explanation interface switches to display a first geometric feature editing interface, where the first geometric feature editing interface is used to create the first location point. The first geometric feature editing interface comprises a ninth virtual button, and when a preset operation aiming at the ninth virtual button is received, the first geometric feature editing interface jumps to display to edit the first position point.

Specifically, as shown in fig. 9, a first point position adjustment interface for manipulating the robot arm to position the currently edited position point is displayed in a thirteenth display area of the teach pendant. And displaying the 3D model of the mechanical arm and a seventh control interface in a fourteenth display area of the demonstrator, wherein the seventh control interface is used for determining or cancelling the currently edited position point. And displaying a second point location regulation interface in a fifteenth display area of the demonstrator, wherein the second point location regulation interface is used for inputting or adjusting position parameters to position the currently edited position point. The thirteenth display area, the fourteenth display area and the fifteenth display area are positioned between the first display area and the fifth display area, the thirteenth display area, the fourteenth display area and the fifteenth display area are sequentially and transversely arranged from left to right, and the size of the fourteenth display area is larger than that of the thirteenth display area and the fifteenth display area.

In this embodiment, the second point location regulation and control interface includes a point location parameter input interface, where the point location parameter input interface is located at the top end of the second point location regulation and control interface, and the second point location regulation and control interface includes a seventh input box, an eighth input box, and a ninth input box. The seventh input box is used for inputting the X-axis coordinate of the currently edited position point, the eighth input box is used for inputting the Y-axis coordinate of the currently edited position point, the ninth input box is used for inputting the Z-axis coordinate of the currently edited position point, and the seventh input box, the eighth input box and the ninth input box are sequentially arranged from top to bottom.

In this embodiment, the seventh manipulation interface includes a tenth virtual button, and when a preset operation for the tenth virtual button is received, as shown in fig. 10, the geometric feature editing process is displayed in the eleventh display area, and the first geometric feature editing interface and the sixth manipulation interface are displayed in the twelfth display area. And when a preset operation aiming at the eighth virtual button is received, switching and displaying a second geometric characteristic editing interface on the first geometric characteristic editing interface, wherein the second geometric characteristic editing interface is used for newly building a second position point. And when a preset operation aiming at the eleventh virtual button is received, jumping to display the editing interface to edit the second position point.

In the present embodiment, when the second location point is edited in the editing interface and a preset operation for the tenth virtual button is received, as shown in fig. 11, the geometric feature editing process is displayed in the eleventh display area, and the second geometric feature editing interface and the sixth manipulation interface are displayed in the twelfth display area. And when a preset operation aiming at the eighth virtual button is received, switching and displaying a third geometric characteristic editing interface on the second geometric characteristic editing interface, wherein the third geometric characteristic editing interface is used for newly building a third position point. And when a preset operation aiming at the twelfth virtual button is received, jumping to display the editing interface to edit the third position point.

In short, in this embodiment, after the first position point is determined in the display editing interface, the user jumps to the second geometric feature editing interface, and then jumps back to the display editing interface again to edit the second position point when the user clicks and confirms to execute the second position point editing in the second geometric feature editing interface. And then, after the second position point is determined, jumping to a third geometric characteristic editing interface, and jumping back to the display editing interface again to edit the third position point when clicking on the third geometric characteristic editing interface to confirm the third position point editing.

In this embodiment, when the third location point is edited in the editing interface and a preset operation for the tenth virtual button is received, as shown in fig. 12, a geometric feature editing process is displayed in the eleventh display area, and a third geometric feature editing interface and a sixth control interface are displayed in the twelfth display area, where the sixth control interface includes a preview interface in which an edited interface is to be displayed for previewing. And when a preset operation aiming at the eighth virtual button is received, switching and displaying a preview interface on the third geometric characteristic editing interface, wherein the preview interface is used for displaying the 3D model of the mechanical arm and the first plane determined by the first position point, the second position point and the third position point. The sixth control interface further comprises a thirteenth virtual button, and the thirteenth virtual button is located on the right side of the sixth control interface and is used for determining the first plane as a preset result of the current plane preset flow and ending the current plane preset flow.

Therefore, the safety plane is set, and a user can select the set safety plane for previewing or using by clicking the corresponding option card in subsequent operation.

203: and displaying the 3D model of the mechanical arm and at least one first safety plane in a third display area of the demonstrator.

In the present embodiment, as shown in fig. 3, the second display area is located at the center of the display area of the teach pendant, below the first display area, and to the right of the second display area. In the region, the posture of the 3D model and the mechanical arm keep real-time synchronization, and at least one safety plane is a set safety plane.

204: and displaying the first control interface and the plane property interface in a fourth display area of the demonstrator.

In the present embodiment, as shown in fig. 3, the fourth display area is located on the left side of the display area of the demonstrator, below the first display area, and on the right side of the third display area, that is, the second display area, the third display area, and the fourth display area are arranged horizontally in order from left to right, and are all located below the first display area. In the area, the first control interface is used for regulating and controlling at least one first safety plane, the plane attribute interface is used for displaying and adjusting attribute information of a second safety plane, the second safety plane is any one of the at least one first safety plane, and the first control interface is located above the plane attribute interface.

In this embodiment, the first manipulation interface includes a first virtual button, and the first virtual button is used to create a new security plane. Illustratively, when a preset operation for a first virtual button is received, a newly created security plane option is inserted and displayed above the first virtual button. Specifically, as shown in fig. 13, after clicking again, the first virtual button moves down to insert the newly created security plane option in the free position, so that the position of the first virtual button in the first manipulation interface is indefinite. When a preset operation for the first virtual button is received, touch point coordinates of the preset operation may be first acquired, and then a display area of the first virtual button may be determined according to the touch point coordinates.

Then, a display template of the safety plane option is obtained, and size information of the display template is determined according to the display area. Specifically, a first width of the display area may be obtained, and then the size of the display template may be adjusted in an equal proportion, so that the second width of the adjusted display template is equal to the first width. And finally, taking the second width and the second length corresponding to the second width as the size information of the display template.

After the size information of the display template is determined, a first display area of the security plane option and a second display area of the first virtual button may be determined according to the size information and the display area of the first virtual button. Specifically, the first display area is located above the second display area, and the first display area is adjacent to the second display area.

Finally, in the present embodiment, the security plane option is displayed in the first display area and the first virtual button is displayed in the second display area to complete the insertion display of the security plane option above the first virtual button.

Secondly, in this embodiment, when a preset operation for a security plane option is received, it is determined that the security plane corresponding to the security plane option is the currently selected security plane, and a plane attribute of the currently selected security plane is displayed on the plane attribute interface. Illustratively, as shown in fig. 3, the plane property interface includes a second virtual button, a third virtual button, a first tab, and a second tab, wherein the second virtual button is used to determine that the currently selected security plane is the final security plane, the third virtual button is used to change the name of the currently selected security plane, the first tab is used to select preset security plane parameters, the second tab is used to select a preset security plane mode, and the third virtual button, the first tab, the second tab, and the second virtual button are arranged from top to bottom in sequence.

In the present embodiment, as shown in fig. 14, when a preset operation for the third virtual button is received, an input interface for inputting a customized plane name is displayed in the sixth display area. Specifically, the sixth display area covers the entirety of the fifth display area, and lower halves of the second display area, the third display area, and the fourth display area. In an alternative embodiment, the input interface may be presented in the form of a floating window.

In this embodiment, when a preset operation for the first tab is received, a first floating menu is displayed below the first tab, where the first floating menu is used to display at least one preset plane, and the preset plane may be preset by the method in step 202, which is not described herein again. And when a preset operation aiming at any one of the at least one preset plane is received, displaying any one preset plane in a third display area, and endowing the plane parameter of any one preset plane to the currently selected safety plane. And when a preset operation aiming at the second tab is received, displaying a second floating menu below the second tab, wherein the second floating menu is used for displaying at least one preset limiting mode. And when a preset operation aiming at any one preset limit mode in at least one preset limit mode is received, determining the plane mode of the safety plane currently selected as any one preset limit mode.

205: and displaying a second control interface in a fifth display area of the demonstrator.

In this embodiment, the second manipulation interface is used for switching the manipulation modes and adjusting parameters of the robot arm.

Specifically, as shown in fig. 3, the first display region is located at the top end of the display region of the demonstrator, the fifth display region is located at the bottom end of the display region, the second display region, the third display region and the fourth display region are located between the first display region and the fifth display region, the second display region, the third display region and the fourth display region are arranged horizontally in sequence from left to right, and the size of the third display region is larger than that of the fourth display region.

In summary, in the method for displaying the safety plane information of the mechanical arm provided by the invention, the video to be processed is framed, the frame type and the reference frame are determined according to the compressed domain information of each frame of image, and the corresponding identification method is further determined according to the frame type. And then, accurately recognizing the face of each frame of image by a matched recognition method and combining the corresponding reference frame and the compressed domain information. Therefore, the obtained compressed domain information in the ROI video coding process is directly utilized, the reference frame of each frame of image is combined, the face area in each frame of image in the video is accurately and stably identified, and the flicker situation is avoided. In addition, by the method, the relation between two frames does not need to be recalculated, the calculation cost can be reduced, and the identification efficiency is improved.

Referring to fig. 15, fig. 15 is a block diagram of functional modules of a control device according to an embodiment of the present disclosure, where the control device may be applied to a robot arm including a teach pendant. As shown in fig. 15, the control apparatus 1500 includes:

a display unit 1501: the display device comprises a display device, a display screen and a display screen, wherein the display device is used for displaying a main menu tab in a first display area of the demonstrator, and the main menu tab is used for displaying at least one main menu function; displaying a sub-menu tab in a second display area of the demonstrator, wherein the sub-menu tab is used for displaying at least one sub-menu function, and the at least one sub-menu function is determined by a selected main menu option in the main menu tab; displaying a 3D model of the mechanical arm and at least one first safety plane in a third display area of the demonstrator, wherein the posture of the 3D model is the same as that of the mechanical arm; displaying a first control interface and a plane attribute interface in a fourth display area of the demonstrator, wherein the first control interface is used for regulating and controlling at least one first safety plane, the plane attribute interface is used for displaying and adjusting attribute information of a second safety plane, the second safety plane is any one of the at least one first safety plane, and the first control interface is positioned above the plane attribute interface; displaying a second control interface in a fifth display area of the demonstrator, wherein the second control interface is used for switching control modes and adjusting parameters of the mechanical arm; the first display area is located at the top end of the display area of the demonstrator, the fifth display area is located at the bottom end of the display area, the second display area, the third display area and the fourth display area are located between the first display area and the fifth display area, the second display area, the third display area and the fourth display area are sequentially and transversely arranged from left to right, and the third display area is larger than the fourth display area.

In the embodiment of the invention, when a first preset operation for the sub-menu tab is received, entering a plane preset flow, and displaying a geometric feature list in a seventh display area of the demonstrator, wherein the geometric feature list is used for displaying at least one preset geometric feature;

In an embodiment of the present invention, in displaying the geometric display interface and the third control interface in the eighth display area of the teach pendant, the display unit 1501 is specifically configured to;

determining a display visual angle of a first posture model according to the plane type and the plane position of the safety plane to be set and the first posture characteristic;

and displaying the third control interface in the interface display area.

In an embodiment of the present invention, the display unit 1501 is specifically configured to perform matching in a preset gesture library according to the first gesture feature to determine a current task purpose of the robot arm;

determining a first feature length of the first pose feature;

In an embodiment of the present invention, the control device 1500 further includes a training unit 1502, specifically configured to:

acquiring a training data set, wherein the training data set comprises at least one training posture characteristic, at least one training display visual angle and at least one training safety plane, the at least one training posture characteristic corresponds to the at least one training display visual angle one by one, and the at least one training posture characteristic corresponds to the at least one training safety plane one by one;

In an embodiment of the present invention, the third control interface includes a fourth virtual button, and when a preset operation for the fourth virtual button is received, the 3D model of the mechanical arm and the fourth control interface are displayed in a ninth display area of the demonstrator, where the fourth control interface includes a fifth virtual button and a sixth virtual button for determining or canceling the currently edited geometric feature parameter, and the 3D model of the mechanical arm is located above the fourth control interface;

displaying a fifth control interface in a tenth display area of the demonstrator, wherein the fifth control interface comprises a base point adjustment interface and a rotation vector adjustment interface, and the fifth control interface is used for editing parameters of the currently selected geometric features;

In an embodiment of the present invention, when a preset operation for the fifth virtual button is received, a plane corresponding to a preset result is displayed in the eighth display area, where the preset result is determined by the geometric characteristic parameter input in the fifth control interface.

In an embodiment of the present invention, in terms of displaying a plane corresponding to the preset result in the eighth display area, the display unit 1501 is specifically configured to;

taking an xOy plane of a second Cartesian coordinate system as a second plane, and determining second plane coordinates of the second plane in the initial Cartesian coordinate system;

establishing a third Cartesian coordinate system by taking the space coordinate of the base point as an origin, wherein the x axis of the third Cartesian coordinate system is parallel to and points at the same as the x axis of the initial Cartesian coordinate system, the y axis of the third Cartesian coordinate system is parallel to and points at the same as the y axis of the initial Cartesian coordinate system, and the z axis of the third Cartesian coordinate system is parallel to and points at the same as the z axis of the initial Cartesian coordinate system;

In an embodiment of the present invention, the fifth virtual button is configured to determine a currently edited geometric characteristic parameter, determine a plane corresponding to the currently edited geometric characteristic parameter as a preset result of the current plane preset flow, and end the current plane preset flow;

In an embodiment of the present invention, the base point adjusting interface is configured to input a coordinate parameter of the first newly-built base point, and the rotation vector adjusting interface is configured to input an adjusting parameter of the newly-built rotation vector;

In an embodiment of the present invention, the base point adjusting interface includes a first input frame, a second input frame, a third input frame, a first adjusting button, a second adjusting button, and a third adjusting button;

the second input frame corresponds to a second adjusting button, the second input frame is located on the left side of the second adjusting button, the second input frame is used for inputting the Y-axis coordinate of the first newly-built base point, and the second adjusting button is used for adjusting the input Y-axis coordinate;

the third input frame corresponds to a third adjusting button, the third input frame is positioned on the left side of the third adjusting button, the third input frame is used for inputting the Z-axis coordinate of the first newly-built base point, and the third adjusting button is used for adjusting the input Z-axis coordinate;

In an embodiment of the present invention, the rotary vector adjustment interface includes a fourth input box, a fifth input box, a sixth input box, a fourth adjustment button, a fifth adjustment button, and a sixth adjustment button;

In an embodiment of the present invention, the third control interface further includes a seventh virtual button, and when a preset operation for the seventh virtual button is received, a geometric feature editing process is displayed in an eleventh display area of the demonstrator, where the geometric feature editing process is used to display at least one editing step and indicate a turn in which the current editing step is located;

displaying a step description interface and a sixth control interface in a twelfth display area of the demonstrator, wherein the step description interface is used for displaying the operation method of the first editing step, the first editing step is the first editing step in at least one editing step, the sixth control interface is used for switching the editing step, and the step description interface is positioned above the sixth control interface;

In an embodiment of the present invention, the sixth control interface includes an eighth virtual button, and when a preset operation for the eighth virtual button is received, the step explanation interface switches to display a first geometric feature editing interface, where the first geometric feature editing interface is used to create the first location point;

In an embodiment of the invention, a first point position adjusting and controlling interface is displayed in a thirteenth display area of the demonstrator, wherein the first point position adjusting and controlling interface is used for controlling the mechanical arm to position a currently edited position point;

the thirteenth display area, the fourteenth display area and the fifteenth display area are positioned between the first display area and the fifth display area, the thirteenth display area, the fourteenth display area and the fifteenth display area are sequentially and transversely arranged from left to right, and the size of the fourteenth display area is larger than that of the thirteenth display area and the fifteenth display area.

In an embodiment of the present invention, the second point location regulation interface includes a point location parameter input interface, wherein the point location parameter input interface is located at a top end of the second point location regulation interface;

In an embodiment of the present invention, the seventh manipulation interface includes a tenth virtual button, and when a preset operation for the tenth virtual button is received, the geometric feature editing process is displayed in the eleventh display area, and the first geometric feature editing interface and the sixth manipulation interface are displayed in the twelfth display area;

In an embodiment of the invention, when the second location point is edited in the editing interface and a preset operation for a tenth virtual button is received, displaying a geometric characteristic editing process in an eleventh display area, and displaying a second geometric characteristic editing interface and a sixth control interface in a twelfth display area;

In an embodiment of the present invention, when the third location point is edited in the editing interface and a preset operation for the tenth virtual button is received, displaying a geometric feature editing process in the eleventh display area and displaying a third geometric feature editing interface and a sixth control interface in the twelfth display area;

In an embodiment of the present invention, the sixth control interface further includes a thirteenth virtual button, and the thirteenth virtual button is located on the right side of the sixth control interface, and is configured to determine the first plane as a preset result of the current plane preset flow, and end the current plane preset flow.

In an embodiment of the invention, the first control interface comprises a first virtual button, and the first virtual button is used for newly building a security plane;

In an embodiment of the present invention, when receiving a preset operation for a first virtual button, in terms of inserting and displaying a newly created security plane option above the first virtual button, the display unit 1501 is specifically configured to:

acquiring a contact coordinate of a preset operation;

In the embodiment of the present invention, in determining the size information of the display template according to the display area, the display unit 1501 is specifically configured to:

acquiring a first width of a display area;

the size of the display template is adjusted in equal proportion, so that the second width of the adjusted display template is equal to the first width;

In an embodiment of the present invention, the flat property interface comprises a second virtual button, a third virtual button, a first tab, and a second tab;

In the embodiment of the invention, when a preset operation aiming at the third virtual button is received, an input interface is displayed in the sixth display area, and the input interface is displayed and used for inputting a self-defined plane name;

wherein the sixth display area covers the entirety of the fifth display area and lower halves of the second display area, the third display area, and the fourth display area.

In an embodiment of the invention, when a preset operation for a first tab is received, a first floating menu is displayed below the first tab, wherein the first floating menu is used for displaying at least one preset plane;

In an embodiment of the present invention, when a preset operation for a second tab is received, displaying a second flyover menu below the second tab, wherein the second flyover menu is used for displaying at least one preset restriction mode;

and when a preset operation aiming at any one preset limit mode in at least one preset limit mode is received, determining the plane mode of the safety plane currently selected as any one preset limit mode.

Referring to fig. 16, fig. 16 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 16, the electronic device 1600 includes a transceiver 1601, a processor 1602, and a memory 1603. Connected to each other by a bus 1604. The memory 1603 is used to store computer programs and data and may transmit the data stored by the memory 1603 to the processor 1602.

The processor 1602 is configured to read the computer program in the memory 1603 to perform the following operations:

displaying a first control interface and a plane attribute interface in a fourth display area of the demonstrator, wherein the first control interface is used for regulating and controlling at least one first safety plane, the plane attribute interface is used for displaying and regulating attribute information of a second safety plane, the second safety plane is any one of the at least one first safety plane, and the first control interface is positioned above the plane attribute interface;

In an embodiment of the present invention, the processor 1602, in displaying the geometric display interface and the third manipulation interface in the eighth display area of the teach pendant, is specifically configured to;

and displaying the third control interface in the interface display area.

In an embodiment of the present invention, the processor 1602 is specifically configured to determine a current task purpose of the robot arm by performing matching in a preset gesture library according to the first gesture feature;

determining a first feature length of the first pose feature;

In an embodiment of the present invention, the processor 1602 is further configured to perform the following operations:

calling at least one decision maker in the initial decision model, and performing decision processing on each training posture feature in at least one training posture feature and a training safety plane corresponding to each training posture feature to obtain an initial display visual angle of each training posture feature;

In an embodiment of the present invention, in displaying a plane corresponding to the preset result in the eighth display area, the processor 1602 is specifically configured to;

taking the product of the second plane coordinate and the first rotation matrix as a target plane coordinate of a plane corresponding to a preset result under the initial Cartesian coordinate system;

the fifth virtual button is located on the left side of the sixth virtual button, and the fifth virtual button and the sixth virtual button are located in the lower right corner of the rotation vector adjustment interface.

In the embodiment of the invention, the base point adjusting interface is used for inputting the coordinate parameters of the first newly-built base point, and the rotating vector adjusting interface is used for inputting the adjusting parameters of the newly-built rotating vector;

In an embodiment of the present invention, the base point adjusting interface includes a first input box, a second input box, a third input box, a first adjusting button, a second adjusting button, and a third adjusting button;

In an embodiment of the present invention, the rotation vector adjustment interface includes a fourth input box, a fifth input box, a sixth input box, a fourth adjustment button, a fifth adjustment button, and a sixth adjustment button;

the sixth input box corresponds to a sixth adjustment button, the sixth input box is positioned at the left side of the sixth adjustment button, and the sixth input box is used for inputting R of the newly-built rotation vector _Z Parameter, sixth adjustment button for adjusting R input _Z A parameter;

In an embodiment of the present invention, the third control interface further includes a seventh virtual button, and when a preset operation for the seventh virtual button is received, a geometric feature editing process is displayed in an eleventh display area of the teach pendant, where the geometric feature editing process is used to display at least one editing step and indicate a turn in which the current editing step is located;

In an embodiment of the present invention, the seventh control interface includes a tenth virtual button, and when a preset operation for the tenth virtual button is received, the geometric feature editing process is displayed in the eleventh display area, and the first geometric feature editing interface and the sixth control interface are displayed in the twelfth display area;

when a preset operation aiming at the eighth virtual button is received, a second geometric characteristic editing interface is switched and displayed on the first geometric characteristic editing interface, wherein the second geometric characteristic editing interface is used for newly building a second position point;

when a preset operation aiming at the eighth virtual button is received, a third geometric characteristic editing interface is switched and displayed on the second geometric characteristic editing interface, wherein the third geometric characteristic editing interface is used for newly building a third position point;

In an embodiment of the present invention, when the third location point is edited in the editing interface and a preset operation for the tenth virtual button is received, displaying a geometric feature editing process in the eleventh display area, and displaying a third geometric feature editing interface and a sixth manipulation interface in the twelfth display area;

when a preset operation aiming at the safety plane option is received, the safety plane corresponding to the safety plane option is determined to be the currently selected safety plane, and the plane attribute of the currently selected safety plane is displayed on the plane attribute interface.

In an embodiment of the present invention, when a preset operation for a first virtual button is received, in terms of inserting and displaying a newly created security plane option above the first virtual button, the processor 1602 is specifically configured to perform the following operations:

acquiring a contact coordinate of a preset operation;

In an embodiment of the present invention, in determining the size information of the display template according to the display area, the processor 1602 is specifically configured to perform the following operations:

acquiring a first width of a display area;

In an embodiment of the present invention, the planar property interface comprises a second virtual button, a third virtual button, a first tab, and a second tab;

In an embodiment of the invention, when a preset operation for a second tab is received, a second floating menu is displayed below the second tab, wherein the second floating menu is used for displaying at least one preset limiting mode;

It should be understood that the robot arm security plane information display device in the present application may include a smart Phone (e.g., an Android Phone, an iOS Phone, a Windows Phone, etc.), a tablet computer, a palm computer, a notebook computer, a Mobile Internet device MID (Mobile Internet Devices, MID for short), a robot, or a wearable device, etc. The above-mentioned robot arm safety plane information display device is only an example, not an exhaustive list, and includes but is not limited to the above-mentioned robot arm safety plane information display device. In practical applications, the mechanical arm safety plane information display device may further include: intelligent vehicle-mounted terminal, computer equipment and the like.

Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by combining software and a hardware platform. With this understanding in mind, all or part of the technical solutions of the present invention that contribute to the background can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments or some parts of the embodiments.

Accordingly, the present application also provides a computer-readable storage medium, which stores a computer program, where the computer program is executed by a processor to implement part or all of the steps of any one of the robot safety plane information display methods as described in the above method embodiments. For example, the storage medium may include a hard disk, a floppy disk, an optical disk, a magnetic tape, a magnetic disk, a flash memory, and the like.

Embodiments of the present application also provide a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any one of the robot safety plane information display methods described in the above method embodiments.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required by the application.

In the above embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in a certain embodiment, reference may be made to the description of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is merely a logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware, or may be implemented in the form of a software program module.

The integrated units, if implemented in the form of software program modules and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, and the memory may include: flash Memory disks, read-Only memories (ROMs), random Access Memories (RAMs), magnetic or optical disks, and the like.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the methods and their core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific implementation manner and the application scope may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. The mechanical arm safety plane information display method is applied to a demonstrator, the demonstrator is in communication connection with a mechanical arm, and the method comprises the following steps:

displaying a 3D model of the mechanical arm and at least one first safety plane in a third display area of the demonstrator, wherein the 3D model has the same posture as the mechanical arm;

displaying a first control interface and a plane attribute interface in a fourth display area of the demonstrator, wherein the first control interface is used for regulating and controlling the at least one first safety plane, the plane attribute interface is used for displaying and regulating attribute information of a second safety plane, the second safety plane is any one of the at least one first safety plane, and the first control interface is located above the plane attribute interface;

the first display area is located at the top end of a display area of the demonstrator, the fifth display area is located at the bottom end of the display area, the second display area, the third display area and the fourth display area are located between the first display area and the fifth display area, the second display area, the third display area and the fourth display area are sequentially and transversely arranged from left to right, and the third display area is larger than the fourth display area.

2. The method of claim 1,

when a first preset operation aiming at the sub-menu tab is received, entering a plane preset flow, and displaying a geometric feature list in a seventh display area of the demonstrator, wherein the geometric feature list is used for displaying at least one preset geometric feature;

displaying a geometric display interface and a third manipulation interface in an eighth display area of the teach pendant, wherein the geometric display interface is used for displaying the 3D model of the mechanical arm and at least one first geometric feature, the at least one first geometric feature is determined by a selected preset geometric feature in the geometric feature list, the third manipulation interface is used for adjusting parameters of a second geometric feature, the second geometric feature is any one of the at least one first geometric feature, and the geometric display interface is positioned above the third manipulation interface;

3. The method of claim 2, wherein displaying a geometric presentation interface and a third manipulation interface in an eighth display area of the teach pendant comprises:

acquiring gesture data from the mechanical arm, wherein the gesture data is used for identifying the current action form of the mechanical arm, and the gesture data comprises type data of a tail end in the mechanical arm, state data of the tail end and position data of each joint;

performing attitude adjustment on a corresponding virtual end tool and a corresponding virtual joint in a preset 3D model according to the type data of the tail end in the mechanical arm, the state data of the tail end and the position data of each joint to obtain a first attitude model;

matching in a preset attitude library according to the first attitude characteristic, and determining the current operation purpose of the mechanical arm;

inputting the operation purpose and the historical safety plane setting information into a decision model, and predicting the plane type and the plane position of a safety plane to be set;

determining an aspect ratio of the first pose model at a first display perspective;

displaying the first posture model in the model display area according to the display visual angle;

and displaying the third control interface in the interface display area.

4. The method according to claim 3, wherein the matching according to the first posture characteristic in a preset posture library to determine the current operation purpose of the mechanical arm comprises:

determining a first feature length of the first pose feature;

5. The method according to claim 3 or 4, characterized in that the method further comprises:

acquiring a training data set, wherein the training data set comprises at least one training posture feature, at least one training display visual angle and at least one training safety plane, the at least one training posture feature is in one-to-one correspondence with the at least one training display visual angle, and the at least one training posture feature is in one-to-one correspondence with the at least one training safety plane;

calling at least one decision maker in an initial decision model, and performing decision processing on each training posture feature in the at least one training posture feature and a training safety plane corresponding to each training posture feature to obtain an initial display visual angle of each training posture feature;

6. The method of claim 2,

the third control interface comprises a fourth virtual button, and when preset operation aiming at the fourth virtual button is received, a 3D model of the mechanical arm and a fourth control interface are displayed in a ninth display area of the demonstrator, wherein the fourth control interface comprises a fifth virtual button and a sixth virtual button and is used for determining or cancelling the currently edited geometric feature parameters, and the 3D model of the mechanical arm is positioned above the fourth control interface;

displaying a fifth control interface in a tenth display area of the teach pendant, wherein the fifth control interface comprises a base point adjustment interface and a rotation vector adjustment interface, and the fifth control interface is used for editing parameters of the currently selected geometric features;

7. The method of claim 6,

when a preset operation aiming at the fifth virtual button is received, displaying a plane corresponding to a preset result in the eighth display area, wherein the preset result is determined by the geometric characteristic parameters input in the fifth control interface.

8. The method according to claim 7, wherein the displaying the plane corresponding to the preset result in the eighth display area comprises:

acquiring first input data in the base point adjusting interface and second input data in the rotation vector adjusting interface;

determining a space coordinate of a base point in an initial Cartesian coordinate system of the mechanical arm according to first input data, and determining an Euler angle coordinate according to second input data;

determining a first rotation matrix of the base point relative to the initial Cartesian coordinate system according to the space coordinate of the base point and a preset rotation matrix format;

taking an xOy plane of the initial Cartesian coordinate system as a first plane, and establishing a second Cartesian coordinate system according to the first plane and the Euler angle coordinate, wherein the origin of the second Cartesian coordinate system is the same as the origin of the initial Cartesian coordinate system, and the rotation amount of the second Cartesian coordinate system relative to the initial Cartesian coordinate system meets the Euler angle coordinate;

and displaying a plane corresponding to the preset result in the eighth display area based on the target plane coordinate.

9. The method according to claim 7, wherein the displaying the plane corresponding to the preset result in the eighth display area comprises:

establishing a third Cartesian coordinate system by taking the space coordinates of the base point as an origin, wherein the x axis of the third Cartesian coordinate system is parallel to and points at the same direction as the x axis of the initial Cartesian coordinate system, the y axis of the third Cartesian coordinate system is parallel to and points at the same direction as the y axis of the initial Cartesian coordinate system, and the z axis of the third Cartesian coordinate system is parallel to and points at the same direction as the z axis of the initial Cartesian coordinate system;

taking an xOy plane of the third Cartesian coordinate system as a third plane, and establishing a fourth Cartesian coordinate system according to the third plane and the Euler angle coordinate, wherein an origin of the fourth Cartesian coordinate system is the same as that of the third Cartesian coordinate system, and a rotation amount of the fourth Cartesian coordinate system relative to the third Cartesian coordinate system meets the Euler angle coordinate;

taking an xOy plane of the fourth Cartesian coordinate system as a fourth plane, and determining fourth plane coordinates of the fourth plane in the third Cartesian coordinate system;

10. The method of claim 6,

the fifth virtual button is used for determining the currently edited geometric characteristic parameters, determining a plane corresponding to the currently edited geometric characteristic parameters as a preset result of a current plane preset flow, and ending the current plane preset flow;

11. The method of claim 6,

the base point adjusting interface is used for inputting coordinate parameters of a first newly-built base point, and the rotating vector adjusting interface is used for inputting adjusting parameters of a newly-built rotating vector;

12. The method of claim 11,

the base point adjusting interface comprises a first input frame, a second input frame, a third input frame, a first adjusting button, a second adjusting button and a third adjusting button;

the first input frame corresponds to the first adjusting button, the first input frame is located on the left side of the first adjusting button, the first input frame is used for inputting the X-axis coordinate of the first new building base point, and the first adjusting button is used for adjusting the input X-axis coordinate;

the third input frame corresponds to the third adjusting button, the third input frame is located on the left side of the third adjusting button, the third input frame is used for inputting the Z-axis coordinate of the first newly-built base point, and the third adjusting button is used for adjusting the input Z-axis coordinate;

13. The method of claim 11,

the rotary vector adjusting interface comprises a fourth input frame, a fifth input frame, a sixth input frame, a fourth adjusting button, a fifth adjusting button and a sixth adjusting button;

the fourth input frame corresponds to the fourth adjusting button, the fourth input frame is located on the left side of the fourth adjusting button, the fourth input frame is used for inputting the RX parameter of the new rotation vector, and the fourth adjusting button is used for adjusting the input RX parameter;

the fifth input frame corresponds to the fifth adjusting button, the fifth input frame is positioned on the left side of the fifth adjusting button, the fifth input frame is used for inputting the RY parameter of the newly-built rotation vector, and the fifth adjusting button is used for adjusting the input RY parameter;

the sixth input frame corresponds to the sixth adjusting button, the sixth input frame is located on the left side of the sixth adjusting button, the sixth input frame is used for inputting the RZ parameter of the new rotation vector, and the sixth adjusting button is used for adjusting the input RZ parameter;

14. The method of claim 2,

the third control interface further comprises a seventh virtual button, and when preset operation aiming at the seventh virtual button is received, a geometric characteristic editing process is displayed in an eleventh display area of the demonstrator, wherein the geometric characteristic editing process is used for displaying at least one editing step and indicating the turn of the current editing step;

displaying a step description interface and a sixth manipulation interface in a twelfth display area of the demonstrator, wherein the step description interface is used for displaying an operation method of a first editing step, the first editing step is a first editing step in the at least one editing step, the sixth manipulation interface is used for switching the editing step, and the step description interface is located above the sixth manipulation interface;

the eleventh display area and the twelfth display area are located between the first display area and the fifth display area, the eleventh display area and the twelfth display area are sequentially and transversely arranged from left to right, and the size of the eleventh display area is smaller than that of the twelfth display area.

15. The method of claim 14,

the sixth control interface comprises an eighth virtual button, and when preset operation aiming at the eighth virtual button is received, a first geometric characteristic editing interface is switched and displayed on the step description interface, wherein the first geometric characteristic editing interface is used for newly building a first position point;

the first geometric feature editing interface comprises a ninth virtual button, and when preset operation aiming at the ninth virtual button is received, the first geometric feature editing interface jumps to display to edit the first position point.

16. The method of claim 15, wherein the jumped display editing interface comprises:

displaying a first point position adjusting and controlling interface in a thirteenth display area of the demonstrator, wherein the first point position adjusting and controlling interface is used for controlling the mechanical arm to position a currently edited position point;

displaying a 3D model of the mechanical arm and a seventh control interface in a fourteenth display area of the demonstrator, wherein the seventh control interface is used for determining or cancelling the currently edited position point;

displaying a second point location regulation and control interface in a fifteenth display area of the demonstrator, wherein the second point location regulation and control interface is used for inputting or adjusting position parameters to position the currently edited position point;

the thirteenth display area, the fourteenth display area and the fifteenth display area are located between the first display area and the fifth display area, the thirteenth display area, the fourteenth display area and the fifteenth display area are sequentially and transversely arranged from left to right, and the size of the fourteenth display area is larger than that of the thirteenth display area and the fifteenth display area.

17. The method of claim 16,

the second point location regulation and control interface comprises a point location parameter input interface, wherein the point location parameter input interface is positioned at the top end of the second point location regulation and control interface;

18. The method of claim 16 or 17,

the seventh manipulation interface comprises a tenth virtual button, and when a preset operation for the tenth virtual button is received, the geometric feature editing process is displayed in the eleventh display area, and the first geometric feature editing interface and the sixth manipulation interface are displayed in the twelfth display area;

when a preset operation for the eighth virtual button is received, switching and displaying a second geometric characteristic editing interface on the first geometric characteristic editing interface, wherein the second geometric characteristic editing interface is used for creating a second position point;

the second geometric feature editing interface comprises an eleventh virtual button, and when preset operation aiming at the eleventh virtual button is received, the editing interface is jumped to be displayed so as to edit the second position point.

19. The method of claim 18,

when the second position point is edited in the editing interface and preset operation for the tenth virtual button is received, displaying the geometric feature editing process in the eleventh display area, and displaying the second geometric feature editing interface and the sixth control interface in the twelfth display area;

when a preset operation for the eighth virtual button is received, switching and displaying a third geometric feature editing interface on the second geometric feature editing interface, wherein the third geometric feature editing interface is used for creating a third location point;

the third geometric feature editing interface comprises a twelfth virtual button, and when preset operation aiming at the twelfth virtual button is received, the editing interface is jumped to be displayed to edit the third position point.

20. The method of claim 19,

when the third position point is edited in the editing interface and preset operation for the tenth virtual button is received, displaying the geometric feature editing process in the eleventh display area, and displaying the third geometric feature editing interface and the sixth control interface in the twelfth display area;

when preset operation aiming at the eighth virtual button is received, switching and displaying a preview interface on the third geometric characteristic editing interface, wherein the preview interface is used for displaying a 3D model of the mechanical arm and a first plane determined by the first position point, the second position point and the third position point.

21. The method of claim 20,

the sixth control interface further comprises a thirteenth virtual button, and the thirteenth virtual button is located on the right side of the sixth control interface and is used for determining the first plane as a preset result of the current plane preset flow and ending the current plane preset flow.

22. The method of claim 1,

the first control interface comprises a first virtual button, and the first virtual button is used for newly building a safety plane;

when a preset operation aiming at the first virtual button is received, inserting and displaying a newly-built security plane option above the first virtual button;

when receiving a preset operation aiming at the safety plane option, determining that the safety plane corresponding to the safety plane option is the currently selected safety plane, and displaying the plane attribute of the currently selected safety plane on the plane attribute interface.

23. The method of claim 22, wherein inserting and displaying a newly created security plane option above the first virtual button when a preset operation for the first virtual button is received comprises:

acquiring a contact coordinate of the preset operation;

determining a display area of the first virtual button according to the contact point coordinates;

and displaying the safety plane option in the first display area, and displaying the first virtual button in the second display area.

24. The method of claim 23, wherein determining the size information of the display template according to the display area comprises:

acquiring a first width of the display area;

adjusting the size of the display template in an equal proportion to enable the adjusted second width of the display template to be equal to the first width;

and taking the second width and a second length corresponding to the second width as the size information of the display template.

25. The method of claim 22,

the plane property interface comprises a second virtual button, a third virtual button, a first tab and a second tab;

26. The method of claim 25,

when a preset operation aiming at the third virtual button is received, displaying an input interface in a sixth display area, wherein the display input interface is used for inputting a self-defined plane name;

wherein the sixth display area covers an entirety of the fifth display area and lower halves of the second, third, and fourth display areas.

27. The method of claim 25,

when a preset operation aiming at the first tab is received, displaying a first floating menu below the first tab, wherein the first floating menu is used for displaying at least one preset plane;

when a preset operation aiming at any one of the at least one preset plane is received, displaying the any one preset plane in the third display area, and endowing the plane parameter of the any one preset plane to the currently selected safety plane.

28. The method of claim 25,

when a preset operation aiming at the second tab is received, displaying a second floating menu below the second tab, wherein the second floating menu is used for displaying at least one preset limiting mode;

when a preset operation for any one of the at least one preset limit mode is received, determining the plane mode of the currently selected security plane as the any one preset limit mode.

29. Control device, characterized in that it is applied to a robot arm comprising a teach pendant, said control device comprising means for performing the method according to any of claims 1-28.

30. An electronic device, comprising: a memory for storing a program; a processor for executing the memory-stored program, the processor for performing the method of any one of claims 1-28 when the memory-stored program is executed.

31. A computer-readable medium, characterized in that the computer-readable medium stores program code for execution by a device, the program code comprising instructions for performing the method of any of claims 1-28.